/* Initial tilt-start codeTurn on micro while board tipped to one side,rider about to step onto it, if tilt angle crosses zero (mid) point balance algorithmbecomes operational otherwise locked in this loop forever until it is tipped to level position as ridergets onto board*/

tipstart=0; accelraw = 0; } }

while (tipstart<1){

// you need this to allow the SG filter to wind up to the proper stable value when you first turn machine on, before looking at the value of accsum (below).